/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"

/* See also angleFixTest, angleTest, mathTests. */

int main(void)
{
  bool error = false;

  if (!ArMath::angleBetween(60, 30, 90))
  {
    error = true;
    printf("Failed 60 reported not between 30, 90\n");
  }
  if (ArMath::angleBetween(120, 30, 90))
  {
    error = true;
    printf("Failed 120 reported between 30, 90\n");
  }

  if (!ArMath::angleBetween(-60, -90, -30))
  {
    error = true;
    printf("Failed -60 reported not between -30, -90\n");
  }
  if (ArMath::angleBetween(-120, -90, -30))
  {
    error = true;
    printf("Failed -120 reported between -30, -90\n");
  }

  if (!ArMath::angleBetween(-120, 90, -90))
  {
    error = true;
    printf("Failed -120 reported not between 90, -90\n");
  }
  if (!ArMath::angleBetween(120, 90, -90))
  {
    error = true;
    printf("Failed 120 reported not between 90, -90\n");
  }
  if (ArMath::angleBetween(0, 90, -90))
  {
    error = true;
    printf("Failed 0 reported between 90, -90\n");
  }

  if (!ArMath::angleBetween(-30, -90, 90))
  {
    error = true;
    printf("Failed -30 reported not between -90, 90\n");
  }
  if (!ArMath::angleBetween(30, -90, 90))
  {
    error = true;
    printf("Failed 30 reported not between -90, 90\n");
  }
  
  if (ArMath::angleBetween(180, -90, 90))
  {
    error = true;
    printf("Failed 180 reported between -90, 90\n");
  }

  if (!error)
    printf("\nTest ran successfully!\n");
  else
    printf("\nTest failed!\n");
}
